Precise Shearer Positioning Technology Using Shearer Motion Constraint and Magnetometer Aided SINS

Table 2

Positioning error of different navigation modes.

Navigation method	SINS	SINS/OD	Error-reduction rate (%)	SINS/OD/MAG	Error-reduction rate (%)
East error variation (m)	3.9664	0.9012	77.28	0.2195	94.47
North error variation (m)	6.2906	1.2491	80.14	0.3246	94.94